Kinematic and Static Analysis of a 3-DOF 2SPR+RPS Parallel Manipulator

Abstract

Kinetostatic analysis of 3-DOF 2SPR+RPS parallel manipulator has been researched. Displacement analysis is given by matrix coordinate transformation method and the geometric constraint relations. The Jacobian/Hessian matrices are given, and some analytic formulas for solving the velocity and acceleration are derived. The static equilibrium equations are derived, active forces and constrained forces are solved corresponding to a given variation of pose parameters and external workload. The analytic results are calculated, the numerical examples are presented which are very useful for the kinematic performance of the parallel manipulator.